EP1606581B1 - Procede et dispositif de traitement d'image d'un appareil de mesure geodesique - Google Patents

Procede et dispositif de traitement d'image d'un appareil de mesure geodesique Download PDF

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Publication number
EP1606581B1
EP1606581B1 EP04721531.4A EP04721531A EP1606581B1 EP 1606581 B1 EP1606581 B1 EP 1606581B1 EP 04721531 A EP04721531 A EP 04721531A EP 1606581 B1 EP1606581 B1 EP 1606581B1
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European Patent Office
Prior art keywords
template
display
image coordinate
geodetic
display image
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EP04721531.4A
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German (de)
English (en)
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EP1606581A1 (fr
EP1606581B8 (fr
Inventor
Bernd Walser
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Leica Geosystems AG
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Leica Geosystems AG
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Publication of EP1606581B1 publication Critical patent/EP1606581B1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites
    • G01C1/04—Theodolites combined with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points

Definitions

  • the invention relates to a method and a device for geodetic surveying of an object with the aid of image processing using a geodetic measuring device.
  • a geodetic device with a movable or independently movable screen relative to this device allows ergonomic and metrological advantages to be achieved.
  • the measurements can then be carried out after alignment with various methods, such as by measuring the angular deviation with supplementary distance measurement by triangulation or by laser.
  • JP 02130409 A and JP 03167412 A is the combination of a theodolite with a video camera known to allow fast and accurate three-dimensional measurements.
  • two theodolite video ICamera-IC combinations simultaneously take pictures of the camera and angle measurements with theodolites.
  • the axes of the video camera and the theodolite are parallel, so that the angle measurement of a theodolite is linked to the images taken by the camera of this combination. From at least two images taken at different angles, the three-dimensional positions of the imaged objects can be derived.
  • the measuring device has a movable measuring head with a camera as a target acquisition device and a distance measuring device whose target axes are precisely aligned with each other.
  • One The target point is measured by capturing it with the camera and then aligning the camera axis with the target point. This is also a precise alignment of the distance measuring device connected, so that its axis also points to the point to be measured.
  • a separate handling module can be created, which can also be used independently and remotely from the measuring device and is in communication with the latter via communication means.
  • the use of such a module together with several measuring devices as sensor components allows the design of remote-controlled geodetic surveying systems.
  • a position marker can be moved, can be used to define the parameters of a measuring process and trigger the measuring process.
  • the subsequent measuring process aligns the components of the measuring device required for the measurement to the position determined by the position mark and the measurement is carried out.
  • a geodetic device that captures a target area with a camera and displays it on a screen.
  • range targets can be selected and their distance can be measured by a range finder by aligning the rangefinder as a complete device with its axis on the selected target.
  • Camera and range finder are moved by motors either together or independently.
  • a geodetic measuring device in which a movement of the beam required for the measurement is effected within the detection range of an optics, without requiring an otherwise necessary movement of the entire optics or larger components.
  • This is made possible by the use of optical components of the electronic recording means for emission of the radiation beam.
  • the recording means in this case relate to the imaging devices which are used for a determination of the target point for a measuring point.
  • the necessary for carrying out the measurement detectors can also be installed in other measuring devices, so that, for example, by a measuring device with such an electronic display and control device, a determination and illumination of a target with radiation, but the measurement is performed by one or more other devices ,
  • a further disadvantage is the necessity that each device must have its own directing means to align the axis of the measuring device or the measuring radiation to a target. Even if all targets are always within the detection range of the recording means for a specific surveying task, a pointwise alignment or aiming and subsequent measurement must be carried out for each measuring process.
  • the German patent application DE 199 22 321 A1 shows a method and an arrangement for performing geodetic measurements by means of video tachymeter.
  • a targeted object point can be viewed.
  • a coordinate of the object point viewed on the display can be set by means of Per.
  • This coordinate on the display is assigned a coordinate on the CCD matrix of the video tachymeter.
  • the video tachymeter measures a distance as well as a horizontal angle and a vertical angle to the object and, with these measured data, makes it possible to assign the geometric objects extracted from the image content of the CCD matrix to object points in an object space.
  • One task is thus to enable a semi-automated measurement of non-cooperative but structured goals.
  • Another object is to allow a measurement of non-cooperative targets within a certain range without mechanical adjustment of a component of the meter.
  • Another object is to simplify the construction of a generic geodetic measuring device.
  • Another object is to reduce the time and energy expense when using a generic geodetic instrument.
  • the solution uses the electronic recording of a recorded observation area.
  • This image data are used, which were recorded with a geodetic measuring device, such as a theodolite or tachymeter.
  • a geodetic measuring device such as a theodolite or tachymeter.
  • the entire meter image sensor system must be calibrated.
  • Such a video measuring system can now be used to measure any structured objects.
  • the surveyor no longer relies on active or cooperative targets to perform a semi-automated point determination.
  • Templates in the form of templates that at least partially describe the object to be measured assist the surveyor in selecting the target points of the objects to be measured.
  • the third dimension of the object is, if necessary, determined by means of a reflectorless distance measurement.
  • the term "geodetic measuring device” is to be understood generally as always a measuring instrument which has devices for measuring or checking data with spatial reference. In particular, this relates to the measurement of directions or angles and / or distances to a reference or measuring point.
  • other devices e.g. Components for satellite-based location determination (eg GPS, GLONASS or GALILEO), which can be used for supplementary measurements or data recordings.
  • the term theodolites, so-called total stations as tachymeters with electronic angle measurement and electro-optical rangefinder, and leveling should be understood here under such a geodetic measuring device.
  • the invention is suitable for use in specialized devices of similar functionality, e.g. in military directional circuits or in industrial construction or process monitoring. These systems are also covered by the term "geodetic instrument”.
  • the geodetic measuring device has electronic recording means which detect objects, in particular an object to be measured, in the form of a recording image within a detection strip.
  • the recording means include, for example, a CCD camera, a CMOS camera, a video camera, a residual light amplifier or a thermal imaging camera.
  • the exact angular orientation of the detection strip is determined by preferably determining the orientation of the recording means and / or a lens of the recording means by means of angle encoders of the geodetic measuring device.
  • a captured image or a portion of this image is recorded in the form of a display image Visualization made visible.
  • the presentation means have in particular an LC display, a cathode ray tube, a flat screen, an interface to communication networks and / or an electronic computer with a screen, preferably designed as a notebook or laptop. Subsequently, at least one display image coordinate is determined, for example by positioning a cursor on the display means. Positioning takes place, in particular, via input means, eg in the form of a keypad, a joy stick, a trackball, a computer mouse, a touch-sensitive input field, an interface to communication networks and / or via a unit combined with the presentation means, in particular a touch-sensitive screen or an electronic computer with input device, preferably designed as a notebook, laptop or handheld PC, in particular Palm PC.
  • input means eg in the form of a keypad, a joy stick, a trackball, a computer mouse, a touch-sensitive input field, an interface to communication networks and / or via a unit combined with the presentation means, in particular a touch-sensitive screen or an electronic computer with input device
  • the defined representation image coordinate is assigned directly or indirectly to a recording image coordinate, which in turn is transformed into at least one geodetic measurement variable, in particular a solid angle, preferably a horizontal and a vertical angle.
  • the transformation takes place in consideration of the recording image coordinate, the angular orientation of the detection strip of the recording means, the focus position, the image scale, the optical errors and / or the temperature-dependent shelves.
  • the geodetic measured quantity includes, for example, the coordinates or components of a point in any coordinate system, in particular a polar coordinate system, and relative relations between individual points, in particular distances or angles between object points.
  • the acquisition image coordinate is determined by the surveyor first calling a template in the form of a template which at least partially models the object to be geodetically measured.
  • the template is approximately positioned on the display image by having the surveyor e.g. defines at least one display image coordinate by positioning a cursor on the display means.
  • the approximately positioned template is adapted via matching to the recorded and geodetically to be measured object.
  • a characteristic point of the fitted template such as an end point, vertex, intersection, center, etc.
  • the take-up image coordinate is determined, followed by the above-mentioned transformation.
  • the described method according to the invention is stored, for example, in the form of a computer program product, in particular as software or firmware, and executed by calculation means, in particular a personal computer, a laptop, a notebook, a single-board computer or another electronic computing and control unit.
  • the data and results of the measurement process can be displayed on the display means.
  • This illustration is possible in the form of a superimposed font or in your own viewport.
  • the latter can be implemented as separate parts of the screen, which map, for example, enlarged image sections.
  • the use of a touch-sensitive flat screen also makes it possible to dispense with special input means, so that the presentation and input means can be made compact and modular.
  • Another possibility for the presentation or input means is the connection to devices that can also be used for other applications. For example, can be accessed via an interface for communication networks or the use of a standard computer, in particular a portable laptop or notebook, on additional additional functionalities. By using computers, additional, possibly universally applicable software can be used.
  • recorded measurement data can be immediately stored in the available memories and used after separation from the geodetic instrument in other applications.
  • a meter can be placed in areas that were previously unusable, e.g. in corners or narrow passages.
  • connection to the geodetic measuring device which now consists essentially only of a housing and the components of the lens with sensor elements together with the associated control components can be produced via communication means, such as wire or radio links.
  • communication means such as wire or radio links.
  • wire connections should always be understood to mean all flexible communication connections which serve for the transmission of data, but in particular fiber optic and copper cables.
  • This separation also allows the control of a variety of geodetic instruments as pure sensor units by means of a central control and evaluation.
  • the latter can be protected from the weather, for example in a vehicle.
  • the placement in a vehicle also allows the use of additional additional components that would prohibitively increase its weight when mounted on a single meter.
  • the use of multiple sensor units allows simplified, simultaneous measurements at common or different points, alignment of the geodetic instruments with each other, or even a sweeping mission where only a portion of the sensor units are always used for measurements while the other portion is moved to other locations.
  • the display of the measuring ranges of simultaneously used sensor units can successively on the same screen or at the same time on a screen in their own display areas, for example in window or split-screen technology, take place.
  • Fig. 1 shows the figurative representation of a geodetic measuring device 2 with electronic recording means 3 for detecting a recording image of at least one geodetically object to be measured 1 and with an electronic display and control device 31.
  • the geodetic measuring device 2 has a pivotable about a vertical axis 24 and a tilting axis 25 pivotable optical unit 19 with recording means 3, here as a arranged instead of an eyepiece CCD or CMOS camera, on.
  • the geodetic measuring device 2 also has an external rangefinder 20 for reflectorless distance measurement and / or for focusing the optical unit 19.
  • the geodetic measuring device 2 is a so-called tachymeter.
  • the recording means 3 detect within a certain detection strip 5, which is determined in particular by the characteristics of the optical unit 19, a at least one geodesically to be measured object 1 having scene 23, the Fig. 1 symbolized by the six trees.
  • the Detection strip 5 can be aligned by turning or tilting the optical unit 19 including the receiving means 3 about the standing axis 24 and the tilting axis 25 and, if appropriate, by varying the imaging scale of the optical unit 19 in its size.
  • the orientation of the detection strip 5 thus results from the alignment of the optical unit 19 and is determined by angle encoders (not shown) which are integrated in the geodetic measuring device 2.
  • the recording image 4 is forwarded by means of a signal via a wire connection 22 to the electronic display and control device 31.
  • a radio connection or a transmission over communication networks such as the Internet can be realized.
  • This electronic display and control device 31 comprises electronic calculation means 32, electronic presentation means 33, input means 34 and a template memory 35.
  • the recording image 4 a section, an enlargement or a reduction of the recording image 4 is visualized by the presentation means 33 in the form of a representation image 6 represented, which includes at least the recorded geodetically to be measured object 1a, here the one tree.
  • a coordinate on the display image 6, hereinafter referred to as display image coordinate 8 can be defined via the input means 34, for example by positioning a cursor which can be moved by means of a joystick or a mouse.
  • the input means 34 it is possible, via the input means 34, to input data, such as coordinates, zoom settings, alignment settings of the geodetic measuring device 2 and further data and commands, in particular for the selection of selection aids in the form of templates, into the calculation means 32.
  • data such as coordinates, zoom settings, alignment settings of the geodetic measuring device 2 and further data and commands, in particular for the selection of selection aids in the form of templates.
  • the calculating means 32 execute a program according to a software and / or firmware and are formed, for example, by a CPU.
  • the template memory 35 serves to store at least one template, for example in the form of a graphic template, wherein the template at least partially models the object to be geodetically measured.
  • the function of the template memory 35 will be described in more detail below.
  • a modified Leica total station TCXA110x for recording the image.
  • the eyepiece is replaced by a CCD camera as recording means 3, wherein for a series production a suitable imaging sensor is used.
  • a motor in the telescope, which forms the optical unit 19 an automatic focusing is possible.
  • the focus can be applied to the entire scene 23 as well as to defined sections.
  • a focus on specific objects can also be realized.
  • the user can also focus by hand.
  • Fig. 2 shows a possible, alternative embodiment of the system Fig. 1 in which a geodetic measuring device 2 ' and an electronic display and control device 31 'are formed as a common integrated unit.
  • the geodetic measuring device 2 ' has an optical unit 19', which can be aligned about an upright axis 24 and a tilting axis 25, with recording means 3 'for detecting a scene 23 with an object 1 to be measured geodetically within a detection strip 5.
  • the display and control device 31 ' is arranged directly on or within the same housing of the geodetic measuring device 2' and includes the calculating means 32 ', the displaying means 33', the input means 34 'and the template memory 35' in a single device.
  • the display means 33 ' which reproduce at least a part of the scene within the detection strip 5 in the form of at least the imaged object 1a, are in this embodiment formed as a touch-sensitive TFT / LCD screen and thus also constitute the input means 34', through which Touching the screen either by hand or by means of a pen 36 directly a display image coordinate 8 'in the display image 6' can be fixed.
  • Fig. 3 1 shows the transformation model for transforming a recording image coordinate of the recording image 4 into polar angles of a detected object 1 with an object point Q.
  • the polar angles of an arbitrary object point Q within the detection strip 5 are detected from its position on the recording image 4 detected by the image sensor of the recording means 3 , and thus can be determined on the basis of its recording image coordinate, a mathematical description of the image of the scene 23 on the image 4 must be known.
  • the following is the transformation of points in the recording image coordinate system x, y, z in the object coordinate system X, Y, Z based on Fig. 3 to be discribed.
  • the axis Z points in the direction of Zenits and represents the piercing axis 24, the axis X is formed by the tilting axis 25.
  • the optical axis 42 is defined as the axis through the optical unit 19 and thus substantially that axis which passes through the centers of the lenses.
  • the theodolite axis 43 is defined as the axis with respect to which the angles of rotation about the standing axis 24 and the tilting axis 25 are measured. This means that the point of intersection of the theodolite axis 43 with the image sensor of the recording means 3 in a two-layer measurement points exactly to the object point Q of the object 1 to be measured. This corresponds to the target axis with respect to the crosshairs in optical theodolites.
  • the calculations are limited to the image of an object point Q in a superordinate coordinate system, which is horizontal and originates in the projection center 41, in the image plane of the recording image 4.
  • a conversion to any coordinate system by means of displacement and rotation on the well-known Helmert transform with scale be done one.
  • Fig. 3 outlines the above transformation of the object point r Q from the higher-level coordinate system X, Y, Z into the image coordinate system x, y, z.
  • the horizontal angle H, the vertical angle V and the axis corrections it is possible to image the object point vector r Q into the system of the imaging means 3.
  • the deviation of the optical axis 42 from the theodolite axis 43 and the optical distortions are corrected by means of suitable transformations and calibrations.
  • the temperature calibration is described below.
  • the temperature calibration of the entire system is carried out analogously to the calibration of an optical theodolite.
  • the advantage of an image-assisted system is that the object no longer needs to be manually targeted in both layers, but rather that the system determines the polar angles of the object by means of image analysis.
  • the geodetic measuring device can be aligned very precisely, in the range of a few cc, on the object.
  • the deposit between a crosshair defining the target axis and an object point on the image sensor of the receiving means 3 is determined by means of the above-mentioned model. Uncertainties in the model parameters can be neglected because the shelves are very small.
  • the respectively best focus position of the optical unit 19 is determined for a target within the detection strip 5 at different distances. Based on a mathematical model of the optical design, parameters are determined which it allow to deduce the chamber constant from any focus position.
  • An online method makes it possible to determine the imaging scale of the optical image, which is directly coupled to the chamber constant, during a measurement. Due to the displacement of an object point within the detection strip 5 on the image sensor of the recording means 3 as a result of a movement of the optical unit 19 and the recording means 3, the imaging scale can be determined.
  • the method is based on a very accurate determination of the object in two or more images for different positions of the geodetic measuring device 2. The object determination is performed by means of image matching method.
  • a stationary object is scanned with the geodetic measuring device 2.
  • the geodetic measuring device 2 is positioned so that the object moves over the image sensor of the receiving means 3.
  • the images are taken in both layers of the optical unit, comparable to both theodolite telescope layers.
  • the positions of the object on the image sensor of the recording means 3 are determined by image analysis.
  • a suitable method is the template matching method. From the measured by the geodetic measuring device 2 horizontal and vertical angles and the corresponding object positions on the image sensor of the recording means. 3 the transformation parameters are determined. To increase the reliability of the parameters, multiple objects can be used.
  • the axis errors are directly determined in this calibration with respect to the optical axis.
  • the measurement process is largely automated by image processing, so that the user must aim each target only in the first position.
  • the system learns the goals in this step and then automatically misses them in both positions.
  • the semi-automated measurement is based on a continuous interaction between user and device. This means that the user defines what is to be measured and the measuring system performs the actual measurement without necessarily moving mechanical parts.
  • the measurement process is hierarchical. First, the user selects a template in the form of a template from a menu, which template describes the object to be measured in its form. He now has the opportunity to place the template approximately on the imaged object or select from automatically found objects. By selecting the template, both the global and the local structure of the target can be defined.
  • the measuring system carries out a local matching in the range of a few pixels in order to determine the position and the direction of an object point in the image. After sufficient numbers of such local points have been determined, a global matching is performed, which is the target in its entirety Are defined.
  • the reflectorless distance meter 20 is used.
  • the user can automatically define the positioning of a laser of the distance meter 20 manually or via the image analysis. This is an example by the Fig. 4 to Fig. 8 be clarified.
  • the aim of this exemplary measurement is to determine a door frame or a corner of the door frame.
  • Fig. 4 1 shows a display image 6 "with a recorded object 1a to be measured in the form of a door, which is shown on the display means 33.
  • the display image 6" also shows a selection menu 14 which provides the user with a plurality of selectable menu items 15, which selection templates 13 graphically in the form of different templates.
  • the user sets a display image coordinate 8 "in the corner of the door 1a 'to be measured by shifting the cursor describing the display image coordinate 8" pixel by pixel on the display means 33 by means of the input means 34 ,
  • the calculating means 32 determine from the display image coordinate 8 "thus defined directly a recording image coordinate 7 which results from the image section of the image 6" in relation to the image 4, in particular from the magnification view and the detail.
  • this recording image coordinate 7 is transformed into a polar angle, in particular taking into consideration the angular orientation of the detection strip 5 of the recording means 3, the temperature and the optical error, and the result of
  • a distance measurement is carried out by the distance meter 20 measuring the distance to the object point with the determined polar angle The result of this distance measurement is likewise displayed in the display window 26.
  • the determination of the object point to be measured takes place with the aid of at least one template 10, which at least partially models the object to be measured 1a 'to be measured - here the right upper corner of the door.
  • the user selects from the menu items 15 of the selection menu 14 a suitable selection template 13, in this case a polyline. He now places the selected template 10 by setting a plurality of display image coordinates by means of the input means 34, for example, with the aid of a cursor, roughly on the object to be measured 1a ', ie on the upper right corner of the door, as in Fig. 5 shown.
  • the template 10 is used to determine the object in the image with subpixel accuracy.
  • a local matching is performed by means of the calculation means 32 first.
  • the matching points are in Fig. 6 marked by matching points 17, the direction of the edge by direction vectors 18.
  • Fig. 7 shown, straights 21 fitted.
  • the intersection of the line 21 represents a characteristic point 11 of the template 10, which now with subpixel accuracy of a recording image coordinate 7 and the method described above, a polar coordinate of the object to be measured, here the upper right corner of the door, optionally including the distance, is assigned.
  • the user selects a template which at least partially models the object to be measured by selecting a selection template, whereupon the calculation means 32 search for structures in the recorded image that are similar to the template 10 '.
  • the user selects a corner selection template 13 'as a template 10', whereupon the calculation means 32 automatically searches for matching corner structures in the recorded object 1a '.
  • the template 10 ' is automatically placed on these structures 16 found by the computing means.
  • the characteristic points 11 'in this case are in each case the corner point of the template 10'. After the selection of one of these characteristic points 11 'by the user, as described above, after determining the corresponding recording image coordinate 7, the determination of the polar angles and optionally the distance of the object point takes place.
  • characteristic points 11, 11' it is also possible for a plurality of characteristic points 11, 11' to be made available per template 10, 10 ', for example end points, corner points, center points and intersections.
  • the user has, as shown above, a certain range of selection templates 13, 13 'available. These different selection templates 13, 13 'are stored in a template memory 35.
  • three options for generating the template are available to the user.
  • the third possibility consists in the mathematical description of the object from which the template 10, 10 'can be calculated for any desired image position.
  • templates 10, 10 'in the template memory 35 which can be formed as a known data storage, either as a pixel image, which can be reduced by suitable compression method in scope, or as a mathematical description, the template 10, 10 'calculated online via a suitable algorithm and not permanently stored.
  • the method described can be stored as a program, in particular in the form of a computer program product which can be read and executed by the calculation means 32 as software, for example on a floppy disk, CD or hard disk.
  • the program as firmware, for example on an EPROM, an electronically programmable read-only memory, the calculation means 32.
  • the advantages of the system and method according to the invention are, in particular, that humans are integrated into the measuring process and can control the system directly, whereby an ideal combination of the control by the user and the reliability of algorithms is achieved.
  • the system only measures the relevant points necessary to determine the object. Compared with a scanner that scans all points, an intelligent survey is performed, which also leads to a significant reduction of data. On the other hand, they are localized as many pixels used. This achieves redundancy in the description of the object.
  • the system is also multifunctional in that 3D points as well as three-dimensional objects such as straight lines can be measured via image analysis. Furthermore, it is possible to store image data for documentation purposes. It is also possible to use the images at a later time to determine the horizontal and vertical angles of other points. The 3D determination becomes possible when the plane in which the points lie is known.
  • the invention is suitable for use in a wide variety of applications.
  • the monitoring of certain objects with the system according to the invention can be largely automated without the need to install target marks or prisms in the area to be monitored.
  • the user roughly aims the object to be monitored so that it is visible on the image. For this a diopter or a laser pointer can be used. It then focuses on what can be done manually or automatically.
  • the object is saved as a template.
  • the target can now be measured again and again without the user having to intervene. As soon as a deviation above a predetermined threshold is detected, an alarm is triggered.
  • the advantage over known methods is the extensive automation without the use of artificial targets.
  • the measurement of buildings is today largely carried out manually, since it is not possible to attach a prism at all points to be measured.
  • inventive system can by interaction with the Users are partially automated the survey.
  • the user aims at the object with the geodetic measuring instrument in wide-angle mode and designates all points to be measured in the image.
  • the identification can be done by placing templates.
  • parameters can be specified, for example, that some points lie in a plane or on a line. With this additional information, it is possible to accelerate the measuring process.
  • possible deviations from the ideal position are also indicated.
  • the image-supported system it is also possible to realize a target tracking of non-cooperative objects. For this, the object structure is saved again and then iteratively identified in the image and the position determined.

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Claims (26)

  1. Procédé de mesure géodésique d'un objet (1) qui utilise un appareil géodésique (2, 2') avec des moyens d'enregistrement électroniques (3, 3') pour saisir une image enregistrée (4) au moins de l'objet qui doit faire l'objet d'une mesure géodésique (1),
    avec les étapes
    • détermination de l'orientation angulaire d'une bande de détection (5) des moyens d'enregistrement (3, 3'),
    • saisie de l'image enregistrée (4),
    • représentation visuelle au moins d'une zone partielle de l'image enregistrée (4) sous forme d'une image d'affichage (6, 6', 6"),
    • détermination d'une coordonnée de l'image enregistrée (7) en fixant au moins une coordonnée associée de l'image d'affichage (8, 8', 8") et
    • transformation de la coordonnée de l'image enregistrée (7) en au moins une grandeur de mesure géodésique - en particulier un angle spatial ou un angle polaire,
    cependant que la détermination de la coordonnée de l'image enregistrée (7) en fixant la coordonnée de l'image d'affichage qui existe au moins (8, 8') comprend les étapes partielles suivantes :
    • appel d'au moins un modèle (10, 10') qui modélise au moins partiellement l'objet qui doit faire l'objet d'une mesure géodésique (1),
    • positionnement du modèle qui existe au moins (10, 10') sur l'image d'affichage (6, 6', 6"), en particulier en fixant au moins une coordonnée de l'image d'affichage (8, 8', 8"),
    • adaptation du modèle qui existe au moins (10, 10') à l'objet qui a été enregistré (1, 1a') et
    détermination de la coordonnée de l'image enregistrée (7) au moyen d'au moins un point caractéristique (11, 11') du modèle qui existe au moins (10, 10'),
    caractérisé en ce que
    l'adaptation du modèle qui existe au moins (10, 10') à l'objet qui a été enregistré (1, 1a') se fait par matching et comprend les étapes partielles suivantes :
    • matching local du modèle (10, 10') avec l'objet enregistré (1a, 1a') - en particulier par la génération de points d'étalonnage (17) avec des vecteurs directionnels (18) et
    • matching global en utilisant les résultats du matching local - en particulier sur la base des points d'étalonnage (17) avec les vecteurs directionnels (18).
  2. Procédé selon la revendication 1, la détermination de la coordonnée de l'image enregistrée (7) en fixant la coordonnée de l'image d'affichage qui existe au moins (8, 8', 8") comprenant les étapes partielles suivantes :
    • fixation de la coordonnée de l'image d'affichage (8, 8', 8"), de préférence en pas discrets, en particulier pixel par pixel et
    • association de la coordonnée de l'image d'affichage (8, - 8', 8") à la coordonnée de l'image enregistrée correspondante (7).
  3. Procédé selon la revendication 1 ou 2, le modèle qui existe au moins (10, 10' étant configuré comme un fragment de l'image enregistrée (4) ou d'une image enregistrée précédente.
  4. Procédé selon la revendication 1 ou 2, le modèle qui existe au moins (10, 10' étant configuré comme une image pixellisée produite artificiellement et - en particulier - un déplacement du modèle (10, 10') sur l'image d'affichage (6, 6'; 6") de l'ordre du subpixel étant déterminé par interpolation.
  5. Procédé selon la revendication 1 ou 2, le modèle qui existe au moins (10, 10') étant configuré comme une description mathématique d'un objet et - en particulier - le modèle (10, 10') représenté sur l'image d'affichage étant calculé par un algorithme.
  6. Procédé selon la revendication 4 ou 5, le modèle qui existe au moins (10, 10' étant formé par une forme géométrique de base - par exemple une ligne, une polyligne, un point, un cercle ou un rectangle.
  7. Procédé selon l'une des revendications 1 à 6, l'appel du modèle qui existe au moins (10, 10') se faisant par menu à partir d'une sélection de modèles de sélection prédéfinis et/ou prédéfinissables (13, 13').
  8. Procédé selon la revendication 7, l'appel par menu se faisant à l'aide d'un menu de sélection (14) avec plusieurs points de menu (15) qui représentent graphiquement au moins partiellement les modèles de sélection (13, 13').
  9. Procédé selon l'une des revendications 1 à 8, le positionnement du modèle qui existe au moins (10, 10') sur l'image d'affichage (6, 6', 6") se faisant en déplaçant le modèle (10, 10') sur l'image d'affichage (6, 6', 6").
  10. Procédé selon l'une des revendications 1 à 8, le positionnement du modèle (10, 10') sur l'image d'affichage (6, 6', 6") se faisant au moins partiellement automatiquement avec les étapes partielles :
    • recherche d'au moins une structure (16) semblable au modèle (10, 10') sur l'objet enregistré (1, 1a'),
    • positionnement du modèle (10, 10') sur au moins une structure trouvée (16).
  11. Procédé selon la revendication 10, le positionnement du modèle (10, 10') sur au moins une structure trouvée (16) se faisant par sélection d'au moins une structure trouvée offerte.
  12. Procédé selon l'une des revendications 1 à 11, plusieurs modèles (10, 10') étant positionnés l'un après l'autre sur l'image d'affichage (6, 6', 6") et étant, le cas échéant, reliés entre eux.
  13. Procédé selon l'une des revendications 1 à 12, la détermination de la coordonnée de l'image enregistrée (7) au moyen d'au moins un point caractéristique (11, 11') du modèle qui existe au moins (10, 10') comprenant les étapes partielles suivantes :
    • détermination d'au moins un point caractéristique (11, 11') d'au moins un modèle (10, 10'), en particulier d'un point d'intersection, d'un point de centre, d'un point d'extrémité ou d'un centre,
    • sélection d'un point caractéristique (11, 11') et
    • association du point caractéristique (11, 11') à une coordonnée de l'image enregistrée (7).
  14. Procédé selon l'une des revendications 1 à 13, la transformation de la coordonnée de l'image enregistrée (7) en au moins une grandeur de mesure géodésique se faisant au moins en tenant compte de la coordonnée de l'image enregistrée (7) et l'orientation angulaire de la bande de détection (5) des moyens d'enregistrement (3, 3').
  15. Procédé selon la revendication 14, la grandeur de mesure géodésique qui existe au moins étant formée par au moins un angle spatial, en particulier un angle horizontal et/ou un angle vertical.
  16. Procédé selon l'une des revendications 1 à 15, la transformation comprenant l'étape partielle : compensation d'erreurs optiques - en particulier des erreurs de distorsion - de l'image enregistrée (4).
  17. Procédé selon la revendication 16, la compensation des erreurs optiques se faisant au moyen d'un élément de correction des erreurs de représentation déterminées individuellement - en particulier de manière empirique - pour l'appareil de mesure géodésique (2, 2'), en particulier d'une fonction de correction ou d'un tableau de correction.
  18. Procédé selon l'une des revendications 1 à 17, la transformation comprenant l'étape partielle : compensation de déviations de position dépendant de la température dans la coordonnée associée de l'image enregistrée (7) et/ou de l'orientation angulaire déterminée de la bande de détection (5) des moyens d'enregistrement (3, 3') en fonction d'une température mesurée.
  19. Procédé selon la revendication 18, la compensation des déviations de position dépendant de la température se faisant au moyen d'un élément de correction de la température déterminé individuellement - en particulier de manière empirique - pour l'appareil de mesure géodésique (2, 2'), en particulier d'une fonction de correction ou d'un tableau de correction.
  20. Procédé selon l'une des revendications 1 à 19, la transformation se faisant en tenant compte de la position du foyer et/ou de l'échelle de représentation d'une unité optique (19, 19') placée en amont des moyens d'enregistrement électroniques (3, 3').
  21. Procédé selon l'une des revendications 1 à 20, le procédé présentant en outre l'étape : mise à disposition de la grandeur de mesure géodésique qui existe au moins, en particulier de l'angle spatial qui existe au moins.
  22. Procédé selon la revendication 21, la mise à disposition de la grandeur de mesure géodésique qui existe au moins se faisant par représentation visuelle, en particulier par affichage dans l'image d'affichage (6, 6', 6"), par exemple par une fenêtre d'affichage (26).
  23. Procédé selon l'une des revendications 21 à 22, la mise à disposition de la grandeur de mesure géodésique qui existe au moins se faisant par sortie d'au moins un angle spatial sur un télémètre (20) avec les étapes partielles :
    • mesure d'une distance d'un point d'objet (Q) qui est défini par l'angle spatial qui existe au moins et
    • mise à disposition de la distance du point d'objet (Q), en particulier par affichage dans l'image d'affichage (6, 6', 6"), par exemple par une fenêtre d'affichage (26).
  24. Dispositif d'affichage et de commande électronique (31, 31') avec
    • des moyens de calcul électroniques (32, 32'),
    • des moyens de représentation électroniques (33, 33') pour la représentation visuelle d'au moins une zone partielle d'une image enregistrée (4) sous forme d'une image d'affichage (6, 6', 6") et, le cas échéant, pour la représentation visuelle d'au moins une grandeur de mesure géodésique et
    • des moyens d'entrée (34, 34') pour l'entrée de données, en particulier pour l'entrée d'une coordonnée d'image d'affichage (8, 8', 8") - dans les moyens de calcul (32, 32'),
    caractérisé par un micrologiciel avec au moins un programme pour exécuter le procédé selon l'une des revendications 1 à 23.
  25. Appareil de mesure géodésique (2, 2') pour l'utilisation dans un procédé selon l'une des revendications 1 à 23, avec des moyens d'enregistrement électroniques (3, 3') pour saisir une image enregistrée (4) au moins de l'objet qui doit faire l'objet d'une mesure géodésique (1), caractérisé par un dispositif d'affichage et de commande électronique (31, 31') selon la revendication 24.
  26. Produit de programme d'ordinateur avec code de programme qui est mémorisé sur un support qui peut être lu par une machine pour réaliser le procédé selon l'une des revendications 1 à 23.
EP04721531.4A 2003-03-21 2004-03-18 Procede et dispositif de traitement d'image d'un appareil de mesure geodesique Expired - Lifetime EP1606581B8 (fr)

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EP03011908A EP1460377A3 (fr) 2003-03-21 2003-05-27 Procédé et dispositif pour traitement d'image dans un appareil de mesure géodésique
EP04721531.4A EP1606581B8 (fr) 2003-03-21 2004-03-18 Procede et dispositif de traitement d'image d'un appareil de mesure geodesique
PCT/EP2004/002800 WO2004083779A1 (fr) 2003-03-21 2004-03-18 Procede et dispositif de traitement d'image d'un appareil de mesure geodesique

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EP1606581A1 (fr) 2005-12-21
CA2519431A1 (fr) 2004-09-30
CN1761855B (zh) 2012-01-25
JP4607095B2 (ja) 2011-01-05
CN1761855A (zh) 2006-04-19
WO2004083779A1 (fr) 2004-09-30
EP1460377A2 (fr) 2004-09-22
JP2006520891A (ja) 2006-09-14
EP1460377A3 (fr) 2004-09-29
AU2004221661B2 (en) 2008-09-25
WO2004083779B1 (fr) 2005-01-06
AU2004221661A1 (en) 2004-09-30
US7633610B2 (en) 2009-12-15
US20060192946A1 (en) 2006-08-31
EP1606581B8 (fr) 2015-01-21

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